Abstract

SALDARRIAGA-CORTES, Carlos A.; CORREA-RAMIREZ, Víctor D.  and  GIRALDO-BUITRAGO, Didier. Parameter Identification and Adaptive Control Applied to the Inverted Pendulum. TecnoL. [online]. 2012, n.28, pp.71-87. ISSN 0123-7799.

This paper presents a methodology to implement an adaptive control of the inverted pendulum system; which uses the recursive square minimum method for the identification of a dynamic digital model of the plant and then, with its estimated parameters, tune in real time a pole placement control. The plant to be used is an unstable and nonlinear system. This fact, combined with the adaptive controller characteristics, allows the obtained results to be extended to a great variety of systems. The results show that the above methodology was implemented satisfactorily in terms of estimation, stability and control of such a system. It was established that adaptive techniques have a proper performance even in systems with complex features such as nonlinearity and instability.

Keywords : Adaptive control; parametric identification; mathematical model; controllability; stability; pole placement control.

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